CN113924752B - Data transmission method and automation network - Google Patents

Data transmission method and automation network Download PDF

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Publication number
CN113924752B
CN113924752B CN202080004370.6A CN202080004370A CN113924752B CN 113924752 B CN113924752 B CN 113924752B CN 202080004370 A CN202080004370 A CN 202080004370A CN 113924752 B CN113924752 B CN 113924752B
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telegram
data
unlocker
slave
participant
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CN113924752A (en
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德克·詹森
弗洛里安·埃斯勒
圭多·贝克曼
汉斯·贝克霍夫
霍尔格·布特纳
马丁·罗斯坦
托马斯·雷蒂格
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Beckhoff Automation GmbH and Co KG
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Beckhoff Automation GmbH and Co KG
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40019—Details regarding a bus master
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/4026—Bus for use in automation systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Small-Scale Networks (AREA)
  • Data Exchanges In Wide-Area Networks (AREA)

Abstract

The invention relates to a method for data transmission in an automation network (100) by means of telegrams, wherein the automation network (100) comprises a master participant (105), slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and at least one unlocking device (120, 130, 140) which are connected to one another by a data line network (200). The slave parties (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are divided into sections (300, 305, 310, 315, 320, 325). The master participant (105) transmits a blocking telegram for processing by the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), wherein the blocking telegrams each have a telegram identifier, wherein the telegram identifier is used to assign the blocking telegram to a section (300, 305, 310, 315, 320, 325). At least one section (300, 305, 310, 315, 320, 325) is mated with at least one unlocker (120, 130, 140). If at least one unlocking device (120, 130, 140) receives the blocking telegram, the at least one unlocking device (120, 130, 140) checks whether the blocking telegram is intended for a section (300, 305, 310, 315, 320, 325) associated with the at least one unlocking device (120, 130, 140) on the basis of the telegram identifier in the blocking telegram, in order to release the blocking telegram as an unlocking telegram for processing by a slave participant (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) if the blocking telegram is intended for a section (300, 305, 310, 315, 320, 325) associated with the at least one unlocking device (120, 130, 140).

Description

Data transmission method and automation network
Technical Field
The invention relates to a method for data transmission in an automation network and to a corresponding automation network. The invention also relates to a data structure for use in the data transmission method and to an unlocker constructed to perform the data transmission method and to use the data structure.
Background
The present patent application claims priority from the German patent application having the filing date of 2019, 28.5.7, entitled "DATEN ü BERTRAGRUNGSVERFAHREN, DATENSHRUKTUR, AUTOMATISIRUNGSNETZWERK UND ENTSPERRER", application number DE 102019114305.5, the disclosure of which is incorporated herein by reference.
Automation networks usually operate as so-called "field bus systems". A fieldbus system is an industrial bus system which can control machines or systems in an automation network in real time. Generally, machines or systems in an automation network are controlled by means of Programmable Logic Controllers (PLCs). PLCs communicate with field instruments, such as sensors and actuators of machines or systems in an automation network, using a fieldbus system. If a plurality of communication partners send messages via the same data line, which can be designed as a wired or wireless bus system, it must be determined which communication partner can "tell" what it is (provide measurement values, execute commands, for example, process part of a task, etc.). For this purpose, a defined hierarchy and standardized data transmission protocols are proposed.
In most cases, fieldbus systems operate in a so-called "master-slave mode". This means that the master participant will take over process control, while the slave participants will take over subtask processing in the control mode of the automation network. Data exchange takes place in the automation network by means of telegrams output from the master participant to the slave participants. The slave party reads the output data addressed to the slave party from the telegram, puts the input data of the slave party into the telegram, and sends the telegram back to the master party.
In an automation network (hereinafter EtherCAT network) in which data traffic is carried out by means of telegrams using the basic EtherCAT data transmission protocol, the telegrams are routed through all slave participants and, in the case of a slave participant linked to a data line, the telegrams are sent back from the last slave participant to the master participant. Routing in this context means the transmission path which is provided for the transmission of telegrams in the automation network. The EtherCAT network has the disadvantage that the telegrams always pass through and are processed by all slave participants, i.e. each slave participant reads the output data of the telegrams addressed to it in real time (on the fly) and puts its input data into the telegrams, after which the telegrams are retransmitted from the slave participants. In this case, the transmission of the telegram by the slave participants in the EtherCAT network corresponds to the entry of information into the telegram transmitted by the master network participant and the forwarding of the telegram to the subsequent slave participants in the transmission direction of the telegram, since the slave participants in the EtherCAT network do not themselves transmit any acknowledgement or response telegrams to the request of the master participant. In conventional EtherCAT networks, therefore, it is not possible to activate telegrams for sections of the slave participants, i.e. to release telegrams for certain sections for processing by the slave participants, while blocking telegrams for non-addressed ones of the sections to be processed.
Disclosure of Invention
The object of the invention is to provide a method for data transmission by means of telegrams, which enables targeted addressing of sectors containing slave participants. It is a further object of the invention to increase the confidentiality of data transmission in an automation network by means of an improved data structure and to indicate an improved automation network.
The solution of the invention to achieve the above object is characterized by the features of the independent claims. Further advantageous embodiments of the invention are described in the dependent claims.
According to the invention, a method for data transmission in an automation network by means of telegrams and a corresponding automation network are proposed. The automation network includes a master participant, a slave participant, and at least one unlocker interconnected by a data line network. Furthermore, the slave participants are divided into sections, wherein each section contains at least one slave participant. The master participant sends blocking telegrams for processing by the slave participants, each of these blocking telegrams having a telegram identifier, in order to assign the blocking telegrams to the segments. At least one section is mated with at least one unlocker. If the at least one unlocking device receives the blocking telegram, the at least one unlocking device checks whether the blocking telegram is intended for a section which is assigned to the at least one unlocking device on the basis of the telegram identifier in the blocking telegram, in order to release the blocking telegram as an unlocking telegram for processing by the slave participants if the blocking telegram is intended for a section which is assigned to the at least one unlocking device.
The data transmission method provided by the invention provides the following possibilities: the discharge report is released for processing for slave participants in the segment (e.g., a linear chain of slave participant permutations). By targeted release of telegrams for processing by slave participants in a sector, a faster telegram transit time can be provided in an automation network. The transit time includes the process of sending the telegrams via the data lines, the operating delay times resulting from the hardware operating times (i.e. the operating times of the individual slave participants) and the receiving process via the data lines. The method can in particular reduce the operating delay time of the individual slave participants in the section which is not addressed by the telegram, since the slave participants only have to check whether the section has an address for the slave participant in the telegram, and if the test result is negative, the slave participants in the section which is not addressed in the telegram do not read the output data from the telegram, nor insert the input data into the telegram.
By means of the method, the telegrams can be masked, i.e. the actual user data of the telegrams can be hidden from slave participants, to which no telegram addressing is applied. In this way, blocking the telegram processing for slave participants can increase the information security in the automation network and provide a higher confidentiality during data transmission. The method provided by the invention is not limited to the EtherCAT data transmission protocol of the telegram, and can also be applied to other data transmission protocols and automation networks which can only address all slave participants by using the telegram at present.
In another embodiment, the telegrams each comprise a data field with data elements. If the telegram is blocked, the data element contains a first value. Conversely, if the telegram is unlocked, the data element contains a second value. During the unlocking of the blocking telegram, at least one unlocking means sets a first value of the data element to a second value of the data element in order to indicate to the slave participants that the telegram processing is released.
For example, if a machine or system in an automation network is to be accessed from anywhere in the plant, or if the machine or system is to be accessed at home, a security mechanism must be created to prevent the risk of illegal access to the machine or system, possibly avoiding any relevant operations in the automation network. For example, in this case, an encrypted link for data transmission can be established for each slave participant in the automation network, while each slave participant has to support encryption. If only one data transmission protocol is used in the entire automation network, both for the external links of the internet and for the local control of the machines or systems in the automation network, this also locally encrypts the machine or system control and thus also the telegrams for data transmission (which can be constructed, for example, as EtherCAT telegrams). With the method proposed by the invention, a faster transmission of the telegram can advantageously be provided compared to the telegram encryption, since the transmission of the telegram encrypted and the associated decryption of the telegram will be more time-consuming than with at least one unlocker setting the first value of the data element to the second value of the data element in order to unlock the telegram for processing by the slave participants.
The method can also be used to advantage for implementing different data transmission protocols in automation networks. For example, the EtherCAT data transmission protocol can be used for controlling machines or systems in the automation network, in which case the segments can be addressed specifically for the control task by means of EtherCAT telegrams, while the machines or systems in the automation network can be accessed using a different data transmission protocol, for example only for diagnostic data, for example the operating temperature of the machines or systems in the automation network.
According to another embodiment, before sending the telegram, the host computer participates in sending a configuration telegram to the at least one unlocker, the configuration telegram indicating to the at least one unlocker the telegram identifier of the section matching the at least one unlocker. Before the transmission of the telegram, i.e. before the telegram service for the control mode of the automation network, the configuration telegram can be transmitted once, or it is also conceivable to transmit the configuration telegram dynamically in time windows in which the automation network is not currently in the control mode, in order to avoid problems in the transmission of the configuration telegram in the control mode. The data transmission method can be implemented in an automation network in a simple manner by means of at least one unlocking device in the automation network. Since the at least one unlocking means is arranged quickly by means of the configuration message, the method is carried out with little effort. For example, in addition to the telegram identifier indicating the section associated with the at least one unlocking means, it can be provided by means of a configuration message, such that when the at least one unlocking means receives a blocking telegram with the telegram identifier and a first value of a data element, the at least one unlocking means sets the first value of the data element to a second value of the data element for the section associated with the at least one unlocking means with the live telegram identifier, and then the at least one unlocking means outputs an unlocking telegram to the section associated therewith. By means of the configuration messages, telegram identifiers can be allocated to the sections and, by using at least one unlocking means, the telegrams can be quickly and easily released for processing by the slave participants in the sections.
In another embodiment, a data line network includes data links between a master participant, a slave participant, and a plurality of unlockers. The unlocking device blocks the telegram if it receives an unlocking telegram from a previous unlocking device via the data link for a section which is not intended to match the unlocking device. The method proposed by the invention is not particularly limited to unlocking the blocking telegrams by means of the unlocking device, but also enables the flexible arrangement of the unlocking device for blocking the telegrams. This is particularly conceivable in that the unlocking message is received by the unlocking means from a further previous unlocking means, which unlocking message can be arranged upstream of the unlocking means, for example, in the message return direction toward the master participants, and which is not intended for the section assigned to the unlocking means, nor does it exclude that the unlocking message is processed by the slave participants in the message return direction. Alternatively, the unlocking means can also block telegrams which have already been received by the unlocking means from the preceding unlocking means in the direction of the telegram forward stroke starting from the master participant and which are not intended for the section assigned to the unlocking means.
According to another embodiment, a data line network includes data links between a master participant, a slave participant, and a plurality of unlockers, wherein the data links each have a round trip line and a backhaul line. And the slave participants process respective telegrams on the forward travel line of the data link. If the unlocking device receives an unlocking message from a previous unlocking device via the forward link of the data link, the unlocking device sends the unlocking message to the host participant via the return link of the data link. In particular, an automation network designed as an EtherCAT network can comprise data links which can be designed as data lines and each have a forward line (TX line, TX: transmitter) for transmitting telegrams from a host participant and a return line (RX line, RX: receiver) for receiving telegrams by the host participant. In this case, provision may be made for the slave participants to process the telegrams only on the forward link of the data link or data line, and for the telegrams to be sent without processing by the slave participants to the master participant on the return line.
The unlocker may be configured in the EtherCAT network to recognize that the slave participant has processed the telegram when the unlocker receives the unlocking telegram from a previous other unlocker on the data link or data line, e.g. no further processing is provided for the telegram on the forward line based on the telegram identifier, so that the unlocker may send the unlocking telegram directly to the master participant via the backhaul line.
In a further embodiment, the at least one unlocking means is designed as a network dispatcher and has a plurality of input/output ports, to which the sections containing the slave participants are connected. The at least one unlocker, which is constructed as a network distributor, uses the telegram identifier to route the telegram via a plurality of input/output ports of the at least one unlocker, which is constructed as a network distributor.
If the unlocker is built as a network distributor, the functionality of the network distributor can advantageously be utilized, e.g. different operation modes of the network distributor, such as Store-and-Forward, Cut-through, etc. The unlocker, which is constructed as a network distributor, may also be configured to segment the telegrams in order to avoid collisions of the telegrams sent back from the slave participants to the master participants. If the unlocker is designed as a network distributor, the telegrams can advantageously be routed via the respective input/output ports of the network distributor using the telegram identifiers in order to allow a rapid assignment of the respective input/output ports of the network distributor to the telegram identifiers of the segments. The design of the unlocker as a network dispatcher is particularly well known in that the network topology on which the automation network is based is constructed as a tree structure or similar branching structure and it is advantageous to branch the unlocker with a plurality of input/output ports. In contrast, an unlocker in a linear topology or a ring topology may for example comprise two input/output ports, wherein one input/output port may be constructed as an input port and one input/output port may be constructed as an output port. In the case of a non-branched, for example in an automation network designed in this way, it may not be necessary to build the unlocker as a network distributor.
According to a further embodiment, the at least one unlocking means is additionally configured as a slave participant, in order to be able to process telegrams. The reason for this cost saving is that no additional network components have to be used, but rather the unlocking means can release the telegrams in a targeted manner for processing by the slave participants in the section, so that the unlocking means can itself participate in the telegram processing as a slave participant.
According to the invention, a data structure for use in a method is also presented. The data structure is constructed as a telegram and the telegram has a header section, a data section and a tail section. The header section contains a telegram identifier. The data segment contains a data field having data elements.
If the telegram is blocked, the data element contains a first value. If the telegram is unlocked, the data element contains a second value. The tail section contains a checksum field for integrity checking of the transmitted data. The message identifier for allocating the message to the section and the data field with the data element are respectively contained in the message header section of the message, the data field indicates blocking or releasing the message processing related to the slave party, so that the slave party can immediately and smoothly use the information, and when the data element is determined to contain the first value, the first value indicates blocking the message to be processed, and the message can be rapidly forwarded to the subsequent slave party. By means of the telegram construction provided by the invention, the telegram is blocked or unlocked through the deblocking device, and the telegram service in the control mode cannot be delayed.
In a further embodiment, the telegram is constructed as an ethernet telegram having a destination address field and a sender address field in a header section. The destination address field and the sender address field are both constructed as MAC address fields (MAC: medium access control). The header section contains a TAG field with a telegram identifier. The header section further contains a protocol field for the protocol used. The telegrams use the well-known ethernet data frame structure, i.e. a specific format for packet-oriented data transmission according to the standard IEEE 802.3. In this way, when using the data structure proposed by the invention, the compatibility with other systems which likewise support standardized packet transmission can be improved by means of the method proposed by the invention.
According to another embodiment, the telegram is constructed as an EtherCAT telegram. The data section contains a further header section having a length field, a reserved field and a data field. The data field is constructed as a type field and the data elements as EtherCAT protocol type. The telegrams can advantageously be constructed as EtherCAT telegrams and use EtherCAT data transmission protocols which are proven to be real-time. In this case, the EtherCAT protocol type of the type field contains a second value which, in the standard case, indicates a telegram processing with a release value of 1 (in hexadecimal notation), i.e. addresses the slave participants in the field. The type field can be designed as a 4-bit field, whereby 16 different protocol types (2) can be represented 4 16) whereby another value of the protocol type can simply be used to block telegram processing. Thus, a further value of the protocol type, i.e. a first value of the EtherCAT type, can be implemented, which is configured differently from a second value, in order to indicate the telegram processing of the slave participants in the lockout zone.
According to the invention, an unlocking device for an automation network is also proposed, wherein the unlocking device is configured to carry out a data transmission method and to use a data structure in the method. The unlocker can advantageously be used as a link between the individual segments and the slave participants, without itself forming part of the individual segments. However, the slave participants can also be arranged in a linear chain with a plurality of unlockers between them, wherein these unlockers can themselves be constructed as part of the slave participant section. The unlocker may also be designed as a network dispatcher and has a plurality of input/output ports, each of which is connected to a separate section containing a slave participant. It is also conceivable to provide a further input/output port of the unlocking means embodied as a network distributor in such a way that the unlocking means embodied as a network distributor can be operated both as part of a section, in this case as a slave participant, and at a plurality of input/output ports comprise a separate section containing slave participants. In particular, it is conceivable to use a plurality of unlocking devices in the automation network, which can act as slave participants and/or as network distributors.
For example, the EtherCAT network may be divided into sections such that the first slave participant in these sections is nulled. This is because the slave participants generally do not have an address when switched on, but are initialized by the location of the slave participants. EtherCAT telegrams have datagrams which each contain a datagram header section containing an address field. The value of the address field is incremented, i.e. the value is increased, with each slave participant in the EtherCAT network. By the zero value of the address field (corresponding to the zero bit of the first slave participant in the section above), the respective slave participant knows that any slave participant preceding the respective slave participant cannot increment the value of the address field. The first slave participant in the section therefore recognizes by means of the zero value that the first slave participant is addressed in this way. In particular, the EtherCAT network can be divided into a plurality of sections if the unlocking device embodied as a network distributor has two or more slave participants in a section connected to one and the other of the input/output ports of the unlocking device embodied as a network distributor. In this case, at a plurality of input/output ports other than the input/output port and the other input/output port, independent sections including the slave participants may be formed each.
The advantageous embodiments and refinements of the invention described above and/or specified in the dependent claims can be used individually or in any combination with one another, with the exception of, for example, obvious dependencies or mutually incompatible alternatives.
Drawings
The above features, characteristics and advantages of the present invention and their implementation will become more apparent and apparent from the following description of the embodiments with reference to the schematic drawings. In the figure:
fig. 1 shows a schematic representation of the structure of an automation network for carrying out a data transmission method;
fig. 2 shows a schematic illustration of a first to a fourth telegram structure of data structures used in the method for data transmission in the automation network according to fig. 1; and figure 3 shows a schematic diagram of a fifth telegram structure and a sixth telegram structure with reference to the data structure of figure 2.
Detailed Description
It should be noted that the figures are merely schematic and are not drawn to scale. In this regard, the components and elements shown in the figures may be expanded or reduced for enhanced understanding. It should also be noted that reference numerals in the figures are selected to be unchanged if the elements and/or components and/or dimensions are the same.
Automation networks are usually implemented as field bus systems, wherein network participants are networked with one another via a field bus. If the access rights to the field bus system are based on a master-slave hierarchy, the network participants can be constructed as master participants, as a plurality of slave participants and as at least one unlocker. The network participants can be configured to exchange data with the control unit, for which purpose a real-time data transfer protocol, for example the EtherCAT data transfer protocol, is generally used. In addition, automation networks may also include network participants that are capable of handling other data transmission protocols, such as TCP/IP (Transmission control protocol/Internet protocol), Ethernet, and the like. These network participants do not have to be addressed for control tasks. For example, the data of these data transmission protocols may include diagnostic information about the automation network. The invention is explained below, for example, on the basis of the EtherCAT data transmission protocol with real-time functionality.
The network participants mentioned above, which are switched on in the automation network via the data line network, can be connected to one another via a network distributor (so-called "switch" or "branch"). The network distributor also serves to coordinate the exchange of data between the participants in the sector and to route the telegrams to their destinations in time. In an automation network (hereinafter referred to as EtherCAT network) in which data traffic is carried out by means of telegrams using the basic EtherCAT data transmission protocol, the telegrams are conducted through all slave participants and, in the case of a slave participant linked to a data line, the telegrams are sent back from the last slave participant to the master participant. Until now, it has not been possible to address the individual sections containing slave participants in a targeted manner by means of EtherCAT telegrams.
The core concept of the invention is to activate the EtherCAT telegrams in a targeted manner for processing by the slave participants in the sections and to be able to block the EtherCAT telegrams for the sections containing the slave participants to be processed which are not addressed on the section leading to the section containing the slave participants to be addressed with the telegrams. The invention is not limited to the EtherCAT data transmission protocol, but can be used for all automation networks in which telegrams are always conducted through all slave participants.
Fig. 1 shows a schematic representation of an automation network 100 for carrying out a data transmission method. The automation network 100 comprises a master participant 105 and a plurality of slave participants connected to each other via a data line network 200. Host participant 105 is connected to first input/output port P0 of first unlocker 120 via first data line 205 and may form sixth section 325. The first unlocker 120 may be connected to the further host participant 110 via a third data line 215 via a third input/output port P2. In this case, for example, only the host participant 105 connected to the first input/output port P0 of the first unlocker 120 via the first data line 205 can be configured to perform a central configuration of the automation network 100.
The first unlocker 120 may be connected to the fourth section 315 of the automation network 100 via a fourth input/output port P3 of the first unlocker 120 and a fourth data line 220. For example, the fourth section 315 may contain the first slave participant 115. For clarity, only the input/output ports of the unlocker are shown in fig. 1. Nevertheless, the other participants in the automation network 100 also have input/output ports, via which the participants are connected to one another via the data line network 200. This aspect will not be discussed further below. The first slave participant 115 may be constructed, for example, as a coupling device of the EK1100 type of Beckhoff Automation GmbH & co.kg (Beckhoff Automation ltd) and may be configured to transmit data traffic at a first data transmission rate of 100Mbit/s or a first symbol rate of 100 Mbaud. For example, the fourth section 315 may be constructed as described above. Additionally, it is also contemplated that the fourth section 315 is different from the described embodiments and includes multiple slave participants.
The first unlocker 120 may be connected to the third section 310 of the automation network 100 via a fifth input/output port P4 and a fifth data line 225 of the first unlocker 120. The third section 310 may include a second slave participant 125, a third slave participant 135, and a fourth slave participant 145. The second slave participant 125 can be designed, for example, as a coupling element. The third slave participant 135 can be designed, for example, as a simple branch, wherein this simple branch can be designed to have a routing function in addition to the protocols used in the data transmission method and to support other protocols, such as the TCP/IP protocol (transmission control protocol/internet protocol).
The fourth slave participant 145 can also be constructed, for example, as a simple branch. The first through fourth slave participants 115, 125, 135, 145 in third segment 310 may likewise be configured to communicate data at a second data transmission rate of 1Gbit/s or at a second symbol rate of 1 Gbaud. Unlike the fourth segment 315, the third segment 310 may operate at a second data transmission rate of 1Gbit/s instead of the first data transmission rate of 100 Mbit/s.
For example, any data line with one or more slave participants is not connected to the sixth input/output port P5 of the first unlocker 120. Here, the sixth input/output port P5 is taken as an example. It is also contemplated that additional input/output ports of the first unlocker 120 are so constructed.
The first unlocker 120 is connected to the second network participant 405 via a seventh input/output port P6 and a sixth data line 230. In this case, the second network participant 405 is not designed as a slave participant, but as an ethernet participant which only handles the ethernet protocol. In this regard, it is conceivable that the second network participant 405 does not form a separate segment in the automation network. For example, the second network participant 405 is configured to communicate data at a second data transmission rate of 1 Gbit/s.
The first unlocker 120 may be connected to the first network participant 400 via an eighth input/output port P7 and a seventh data line 235. First network participant 400 may also be configured to handle the ethernet protocol and represent an ethernet participant. For example, Ethernet subscribers may be configured to communicate data at a first data transmission rate of 100 Mbit/s. As with the second network participant 405, the first network participant 400 does not form a separate section in the automation network 100.
For example, the first unlocker 120 may be part of the sixth section 325. The first unlocker 120 may be connected to the fifth slave participant 155, for example, via a second input/output port P1 and a second data line 210. The fifth slave participant 155 may, for example, be designed to communicate data at the second data transmission rate. The fifth slave participant 155 may be connected to the first input/output port P0 of the second unlocker 130 via a second data line 210.
The second unlocker 130 may be connected to the sixth slave participant 160 via a second input/output port P1 of the second unlocker 130 and via an eighth data line 240. For example, the sixth slave participant 160 may also be constructed as a simple branch as described above. Furthermore, the sixth slave participant 160 may have a seventh slave participant 165 following on the eighth data line 240. The seventh slave participant 165 may form the last slave participant in the first section 300, which first section 300 extends from the second input/output port P1 of the first unlocker 120 to the seventh slave participant 165 because the slave participants in each section are generally arranged in a chain. In addition, the seventh slave participant 165 can be designed as a coupling element. For example, the second unlocker 130 may be part of the first section 300, provided that the second input/output port P1 of the second unlocker 130 is provided for this purpose.
A first section 300 starting from second input/output port P1 of first unlocking device 120, fifth slave participant 155, second unlocking device 130, sixth slave participant 160 to seventh slave participant 165 can be configured for carrying out data communications at a second data transmission rate of 1G/s, since fifth slave participant 155, sixth slave participant 160 and seventh slave participant 165 are configured in this way, for example. However, it is also conceivable that fifth slave participant 155, sixth slave participant 160 and seventh slave participant 165, like first unlocking means 120 and second unlocking means 130, can implement both a second data transmission rate of 1Gbit/s and a first data transmission rate of 100 Mbit/s. In this case, the first section 300 may comprise further slave participants, not shown in the figure, which are designed to implement the first data transmission rate. In this case, the data transmission rates of the participants in the first section 300 may be uniformly set to the first data transmission rate. The same applies to the other sections; they may also include additional slave participants configured to implement only the first data transfer rate. But this feature is not mentioned in the description of the other sections.
The second unlocker 130 is connected to the eighth slave participant 170 via a third input/output port P2 and a ninth data line 245. The eighth slave participant 170 forms, for example, the first slave participant in the second section 305. For example, the eighth slave participant 170 may be configured to communicate data at the second data transmission rate. The eighth slave participant 170 is further connected to the first input/output port P0 of the third unlocker 140 via an eighth data line 240. The third unlocker 140 may be part of the second section 305. The third unlocker 140 may be connected to the third network participant 410 via a third input/output port P2 and an eleventh data line 255. For example, the third network participant 410 is constructed as an ethernet switch that handles the ethernet protocol. In the automation network 100, it can be provided that, like the first participant 400 and the second network participant 405, the third network participant 410 does not form a separate section of the automation network 100, since, for example, only network participants are provided for this purpose which handle the EtherCAT data transmission protocol.
The third unlocker 140 may be connected to the eleventh slave participant 185 of the fifth section 320 of the automation network 100 via a fourth input/output port P3 and a twelfth data line 260. For example, the eleventh slave participant 185 may be configured to implement a first data transmission rate. The third unlocker 140 may be connected to the ninth slave participant 175 via a second input/output port P1 and a tenth data line 250. The ninth slave participant 175 may be part of the second section 305 and be constructed as a coupling device. The ninth slave participant 175 may be configured to implement the second data transmission rate. Following the ninth slave participant 175, the tenth slave participant 180 may receive a tenth data line 250. The tenth slave participant 180 may, for example, form the last slave participant in the slave participants arranged in the chain in the second section 305.
The automation network 100 shown in fig. 1 may have, for example, a tree structure, wherein the master participant 105 may form the root of the tree structure and the individual slave participants and unlockers arranged in a section may act as branches of the tree structure. The automation network 100 can be designed in particular as an EtherCAT network, i.e. data transmission can take place using the EtherCAT protocol with real-time functionality. The field shown here represents an EtherCAT field, wherein none of the first to third network participants 400, 405, 410 form an EtherCAT field, since the first to third network participants 400, 405, 410 are not designed to handle the EtherCAT protocol, for example.
Host participant 105 may be configured to send a configuration message to first unlocker 120 via first data line 205 to indicate to first unlocker 120 the message identifier of the section that matches first unlocker 120. The assignment of the telegram identifiers of the sections to the corresponding input/output ports of the first unlocker 120, via which the first unlocker 120 outputs the lock telegram or the unlock telegram, can be stored, for example, in a memory unit (not shown in fig. 1) of the first unlocker 120. It is also conceivable that the matching relationship of the respective input/output ports of the first unlocker 120 and the telegram identifiers of the respective sections has been stored in the memory unit of the first unlocker 120. Meanwhile, the host participant 105 may configure the first unlocker 120 by using the configuration message, for example, when the first unlocker 120 receives the blocking processed telegram (hereinafter, the blocking telegram) with the telegram identifier via the input/output port P0, the first unlocker 120 should operate as it is. The host participant 105 can send a configuration message for installation purposes before the actual telegram traffic in the control mode of the automation network 100.
If the host participant 105 sends a lockout telegram with a telegram identifier to the first unlocker 120 via the first data line 205, the first unlocker 120 checks if the lockout telegram is intended for the section to which the first unlocker 120 is assigned based on the telegram identifier upon reception of the lockout telegram. In addition, the first unlocker 120 may route the lockout telegrams via respective input/output ports of the first unlocker 120 through corresponding telegram identifiers. The telegram identifier may be implemented, for example, as a sector address, by means of which the individual sectors are addressable. If the telegram identifier of the blocking telegram sent by the host participant 105 matches the first section 300, for example, the first unlocker 120 can match the first section 300 addressable with the telegram identifier to the second input/output port P1 of the first unlocker 120 on the basis of the setting by means of the configuration telegram.
Various embodiments are conceivable for structuring the automation network 100 in a section that is formed as an EtherCAT section in an EtherCAT network. For example, an EtherCAT field can start at an input/output port of an unlocking device, which is designed as a network distributor, via which only slave participants are switched on. For example, such an EtherCAT section may extend through the second slave participant 125, the third slave participant 135, and the fourth slave participant 145, and include a third section 310. Such an EtherCAT section can likewise extend over the first slave participant 115, i.e. the fourth section 315. Another example of an EtherCAT section so constructed forms a fifth section 320 containing an eleventh slave participant 185.
The EtherCAT field can furthermore start from an input/output port of the unlocking means embodied as a network distributor, via which the slave participants and further unlocking means which can be embodied as slave participants are switched on, in which case further unlocking means embodied as slave participants must then be provided with further input/output ports. For example, an EtherCAT section configured in this way may contain a fifth slave participant 155, a second unlocker 130 (provided that the second input/output port P1 of the second unlocker 130 is correspondingly provided), a sixth slave participant 160 and a seventh slave participant 165, i.e. corresponding to the first section 300. According to another example, the EtherCAT section may contain an eighth slave participant 170, a third unlocker 140 which may be configured as a slave participant and comprise a second input/output port P1 thus provided, and a ninth slave participant 175 and a tenth slave participant 180. Accordingly, the EtherCAT segment can be constructed in the form of the second segment 305.
In addition, the EtherCAT field may start at host participant 105 and end at the next unlocker. For example, the EtherCAT field may include the host participant 105 and the first unlocker 120 and be implemented in the form of the sixth field 325.
Before the first unlocker 120 outputs the lockout telegram with the telegram identifier of the first section 300 (which may, for example, contain the symbol a) via the second input/output port P1 of the first unlocker 120, it may be set with a configuration message so that the first unlocker 120 sets the data field of the telegram including the data elements with the first value to the second value in order to indicate to the slave participants in the first section 300 to release the telegram processing (hereinafter, the unlock telegram). It is further conceivable that the first unlocker 120 has unlocked the lockout telegram after receiving the lockout telegram via the first input/output port P0 of the first unlocker 120. For example, the fifth slave participant 155 can read the output data of the unlocking telegram addressed to it with the telegram identifier a of the first section 300 and can put its input data into the unlocking telegram, which is forwarded by the fifth slave participant 155 via the second data line 210 to the second unlocker 130 and received by the second unlocker 130 on the first input/output port P0.
After the second unlocking means 130 has "instantaneously" read the output data in the unlocking telegram addressed to this with the telegram identifier a of the first section 300 and put its input data into the unlocking telegram, the second unlocking means 130 can forward the unlocking telegram via the second input/output port P1 via the eighth data line 240 to the sixth slave participant 160. It is assumed that the second input/output port P1 of the second unlocker 130 is set accordingly, so that the second unlocker 130 can process the unlocking telegram with the telegram identifier a of the first section 300 as a slave participant. The sixth slave participant 160 can read similarly addressed output data and put the input data into the unlocking telegram and forward the unlocking telegram to the seventh slave participant 165 via the eighth data line. The seventh slave participant 165 also reads the output data addressed to it and inserts the input data correspondingly into the unlocking telegram. Furthermore, the seventh slave participant 165 recognizes that no further slave participants are connected to the eighth data line 240 after it. To this end, for example, the input/output port of the seventh slave participant 165 may be short-circuited with a switch comprised by the seventh slave participant 165, and the seventh slave participant 165 may be set up such that the seventh slave participant 165 subsequently transmits an unlocking telegram to the second unlocker 130 via the eighth data line 240. The second unlocker 130 may be arranged such that the second unlocker 130 sends an unlocking telegram to the first unlocker 120 via the second data line 210. The first unlocker 120 may be configured such that the first unlocker 120 sends an unlocking telegram from the seventh slave participant 165 back to the master participant via the first data line 205.
The first and second unlockers 120 and 130 may each be configured as slave participants in order to process telegrams from the master participant 105. As an addition to the above description, the first unlocker 120 may be configured to handle unlocking telegrams in addition to the feature that the first unlocker 120 unlocks the blocked telegram sent by the host participant 105 by setting the first value of the data element of the telegram to the second value. The same applies to the third unlocking means 140, since the third unlocking means 140 can also be designed as a slave and be configured to process the unlocking telegrams.
In addition, the first through third unlockers 120, 130, 140 may be configured as network distributors and use the telegram identifiers to route the telegrams through the respective input/output ports of the first through third unlockers 120, 130, 140. In combination with the telegram identifier for routing, the fourth sector 315 and/or the third sector 310 connected to the fourth input/output port P3 and/or the fifth input/output port P4 of the first unlocker 120 in particular each form a separate sector, not corresponding to the sector in which the first unlocker 120 itself is arranged. The first unlocker 120 forms a sixth section 325 with the host participant 105. Alternatively, the first unlocker 120 may also be part of the first section 300.
In combination with the telegram identifier for routing, the second section 305 connected to the third input/output port P2 of the second unlocker 130 may especially form a separate section, not corresponding to the section in which the second unlocker 130 itself is arranged. In addition, the fifth section 320 connected to the fourth input/output port P3 of the third unlocker 140 may especially form a separate section in combination with the telegram identifier for routing, not corresponding to the section in which the third unlocker 140 itself is arranged. In the embodiment shown in fig. 1, for example, the second and third unlockers 130, 140 are each part of the first and second sections 300, 305, since a second input/output port P1 may each be provided for this purpose. The first unlocker 120 is located, for example, in the sixth section 325. Furthermore, the first unlocker 120 may also be part of the first section 300, provided that the second input/output port P1 of the first unlocker 120 is provided accordingly. Alternatively, it is also conceivable that the second and third unlockers 130, 140 each form a separate section. In addition, the first through third unlockers 120, 130, 140 may be configured such that none of the first through third unlockers 120, 130, 140 is part of a section, but the respective sections may be connected to their input/output ports.
When a lockout telegram is received with a telegram identifier matching a section of the first unlocker 120, which section may for example be a separate section at an input/output port of the first unlocker 120, the first unlocker 120 may use the telegram identifier to route the lockout telegram through the matching input/output port stored in the memory unit in the first unlocker 120. Before that, the first unlocker 120 may release the lockout telegram for processing by the slave participants by the first unlocker 120 setting the first value of the data element to the second value. The first unlocker 120 can also transmit a lockout telegram with a telegram identifier not matching the section of the first unlocker 120, but for example matching the first section 300 in which the second unlocker 130 is arranged, which telegram identifier is used for routing the lockout telegram. For example, the first unlocker 120 uses the second input/output port P1 of the first unlocker 120 based on the stored match relationship of the signed b telegram identifier to the second section 305 and the input/output port through which to route.
The first unlocking means 120 transmits the blocking telegram, for example, without changing the telegram identifier b, via the second input/output port P1 of the first unlocking means 120 via the second data line 210 to the fifth slave participant 155. The fifth slave participant 155 reads the header section of the blocking telegram with the telegram identifier b immediately until the data field comprising the data element with the first value. The fifth slave participant 155 recognizes, on the basis of the first value, that the fifth slave participant 155 does not aim to process the user data in the lockout telegram and sends the lockout telegram to the second unlocker 130 via the second data line 210. The second unlocker 130 receives the lockout telegram having the telegram identifier b via the first input/output port P0, and recognizes that the input/output port for outputting the telegram in the second unlocker 130, which is associated with the telegram identifier b and the second section 305, is the third input/output port P2 of the second unlocker 130 based on the mating relationship between the telegram identifier b and the stored storage unit. Before the lockout message is output via the third input/output port P2, the second unlocks 130 the lockout message by setting the first value of the data element to the second value to instruct the eighth slave participant 170 to release message processing during the output of the unlock message via the third input/output port P2 and the ninth data line 245.
The eighth slave participant 170 reads the output data, i.e. the user data, of the telegram addressed to it in real time and puts its input data into the unlocking telegram, after which the eighth slave participant 170 forwards the unlocking telegram to the third unlocker 140 via the ninth data line 245. Since the third unlocker 140 can be embodied as a slave-side feature, like the first unlocker 120 and the second unlocker 130, if a second input/output port P1 is provided for this purpose, the third unlocker 140 can likewise be addressed by means of an unlocking telegram. For example, the second input/output port P1 of the third unlocker 140 is set accordingly, and the third unlocker 140 may operate as a slave participant accordingly. In this case, the third unlocker 140 reads the output data addressed to this point in time from the telegram and puts its input data into the unlocking telegram, after which the third unlocker 140 outputs the unlocking telegram via the tenth data line 250 via the second input/output port P1 of the third unlocker 140 which matches the telegram identifier of the second section 305.
The ninth slave participant 175 receives the unlocking telegram via the tenth data line 250, reads the output data of the telegram addressed thereto, puts its input data into the unlocking telegram, and sends the unlocking telegram to the tenth slave participant 180 via the tenth data line 250. The tenth slave participant 180 reads the output data addressed to this time of the unlocking telegram and puts its input data into the unlocking telegram. Furthermore, the tenth slave participant 180 recognizes that it is the last slave participant in the chain of slave participants in the second section 305. As described above, the tenth slave participant 180 may also recognize this, for example, via a further input/output port of the tenth slave participant 180, which is short-circuited by a switch.
The tenth slave participant 180 sends an unlocking telegram back to the ninth slave participant 175 via the tenth data line 250, and the ninth slave participant 175 sends the unlocking telegram to the second input/output port P1 of the third unlocker 140 via the tenth data line 250. The third unlocker 140 outputs the unlocking telegram via the first input/output port P0 to the eighth slave participant 170 via the ninth data line 245, and the eighth slave participant 170 transmits the unlocking telegram to the second unlocker 130 via the ninth data line 245. The second unlocker 130 receives the unlocking telegrams via the third input/output port P2. For example, the second unlocker 130 may be configured to block the unlocking telegram by setting the second value of the data element to the first value when the second unlocker 130 receives the unlocking telegram from a previous unlocker (e.g., the third unlocker 140) and determines, based on the telegram identifier b, that it is not intended for the first segment 300 that matches the second unlocker 130, thereby preventing possible processing of the unlocking telegram on the backhaul back to the host participant 105.
The third unlocker 130 outputs the lockout telegram to the fifth slave participant 155 via the second data line 210 through the first input/output port P0. The fifth slave participant 155 does not process the lockout telegram and sends the lockout telegram to the first unlocker 120 via the second data line 210. The first unlocker 120 receives the lockout telegram on the second input/output port P1 and may for example be configured to unlock the lockout telegram with the telegram identifier b, i.e. to set the first value of the data element to the second value of the data element, after which the first unlocker 120 outputs the telegram to the host participant 105 via the first data line 205 through the first input/output port P0.
The telegram traffic from the master participant 105 to the slave participants of the first sector 300 and the second sector 305 or from the slave participants in both sectors to the master participant 105 has been illustrated above, but the telegram traffic is not limited to these examples. The same applies to the telegram traffic from the host participant 105 to the other segments of the automation network 100.
An EtherCAT network generally comprises a data line network 200 with data lines, each having a round-trip line, which is designed, for example, as a TX line for transmitting telegrams from the master participant 105 to the slave participants, and a return line, which is designed, for example, as an RX line (TX: transmitter, RX: receiver) for receiving telegrams from the master participant 105. This is not shown in fig. 1 for clarity. The slave participants in the EtherCAT network are configured to process the unlocking telegrams on the forward path, i.e. to read the output data of the unlocking telegrams addressed to the slave participants and to put the input data of the slave participants in the unlocking telegrams. The telegrams are sent back into the EtherCAT network via the backhaul, wherein the slave participants do not process the unlocking telegrams via the backhaul. Alternatively, it is also conceivable that the slave participants can process the unlocking telegrams on the return path from the telegrams to the master participants.
For example, the second unlocker 130 may be arranged to cause the second unlocker 130 to send an unlocking telegram with the telegram identifier c back to the host participant 105 via the backhaul when the second unlocker 130 receives the unlocking telegram with the telegram identifier c from a previous unlocker (e.g. the first unlocker 120) via the backhaul. In this case, the first data line 205 and the second data line 210 may each have a forward link and a return link, and the unlocking telegram may have been processed by the first unlocking processor 120 on the forward link, for example. Thus, no further processing of the unlocking telegrams on the backhaul is provided in the EtherCAT network. However, in an alternatively designed automation network, the slave participants can also process the unlocking telegrams on the backhaul.
The presetting of the second unlocker 130 can be done, for example, by means of a configuration message that the host participant 105 has sent to the second unlocker 130 before sending the message. For example, it may be provided with a configuration message in the memory unit of the second unlocker 130, such that when the second unlocker 130 receives an unlocking message with a specific message identifier (e.g. in the form of the symbol c) via the backhaul and the unlocking message has the second value of the data element, the second unlocker 130 sends the unlocking message back to the host participant 105 via the backhaul. In the case of a data line available for transmitting and receiving telegrams in the second unlocker 130, it can also be provided with a configuration message, so that when the second unlocker 130 receives an unlocking telegram with a specific telegram identifier (for example in the form of the symbol b) which does not correspond to a section associated with the second unlocker 130, i.e. does not correspond to the first section 300 with the telegram identifier a but to the second section 305, and the unlocking telegram has a second value for the data element, the second unlocker 130 sets the second value for the data element to the first value for the data element in order to block the telegram for processing by the slave participants. This is particularly conceivable, without excluding the slave participants from processing the telegrams on the backhaul path of the telegrams to the master participant 105. This can improve the confidentiality of data transmission in the automation network 100.
For the above description, the second unlocker 130 is selected as an example. However, this is not limited to the described features, but rather any unlocker in the automation network 100 is equally suitable for this.
The respective input/output ports of the unlockers, from which the unlockers each receive the telegrams from the host participant 105, may be stored by the respective unlockers in the memory locations of the unlockers to use the first input/output port P0 of the respective unlockers that matches the host participant 105 as an output port when sending back the telegrams from the respective unlockers.
Fig. 2 shows a schematic illustration of a data structure 500 which is used for the data transmission method in the automation network 100 shown in fig. 1. The data structure 500 is formed as a telegram which is output, for example, by the master participant 105 in fig. 1 to slave participants in the automation network 100 in order to carry out the control mode. The data structure 500 in fig. 2 has a first telegram structure TEL1 and includes a header section 505, a data section 510 and a tail section 515. For example, data structure 500 may be constructed in accordance with the standard IEEE 802.3 and include an ethernet data frame format for packet-oriented data transmission. If, for the data structure 500, the EtherCAT data transmission protocol is configured, in addition to complying with the ethernet data frame structure, for processing the user data of the data structure 500, the data structure has a second telegram structure TEL 2. The header section 505 of the data structure 500 is constructed as an ethernet header section 520.
The data section 510 of the data structure 500 then has an EtherCAT header section 525 which contains instructions for the slave participants. The data section 510 also contains EtherCAT data, which may be implemented in the form of datagrams. For example, the data section 510 may have a first datagram 530, a second datagram 535, and an nth datagram 540, where the nth datagram 540 indicates that the data structure 500 may contain any number of datagrams in total. In this regard, however, the datagrams in data structure 500 should not be limited to a particular number. The datagrams themselves each have a control data field and a user data field (not shown in figure 2). The control data field contains a command field which provides the slave participants with information about what type of user data of the data structure 500 constructed as an EtherCAT telegram the slave participants should process: for example, whether the slave participant should insert data into the user data field of the EtherCAT telegram during writing, whether the slave participant should first retrieve data from the user data field and then insert it into the user data field during writing/reading, or whether the slave participant should retrieve data from the user data field only during reading. The control data field also has an address field. In this address field, a data field is defined in the slave participant with which the slave participant should exchange data when the user data field is validated immediately.
After receiving the control data field in the datagram of the EtherCAT telegram from the slave participant, it starts evaluating the command field and the address field. If the slave participant addresses through the data element to process the EtherCAT telegram, the slave participant obtains the output data aiming at the datagram from the user data field during reading the datagram or writing/reading the datagram when the datagram in the EtherCAT telegram passes through the slave participant. If it is a write datagram or a read/write datagram, the corresponding slave participant immediately inserts the incoming data into the user data field of the datagram.
The tail section 515 of the data structure 500 of the EtherCAT telegram (hereinafter referred to as EtherCAT telegram) additionally has a padding field 545 and a checksum field 550 in the second telegram structure TEL 2. The padding field 545 is needed to carry the EtherCAT message in the ethernet data frame to the required 64 byte minimum size ethernet data frame by inserting other bytes added as padding into the EtherCAT message. A padding field may be required to transmit less than 46 or 42 bytes (without or with a VLAN tag corresponding to standard IEEE 802.1Q) as user data by means of EtherCAT telegrams, wherein the preamble and start frame delimiter (SED) fields not included in fig. 2 are not counted. By means of the checksum field 550, an integrity check of the transmitted data can be ensured. To this end, the checksum field 550 may, for example, contain a calculated CRC checksum (CRC: cyclic redundancy check) which is calculated via the ethernet data frame, starting with the destination MAC address (MAC: medium access control) and ending with the padding field 545, so that the checksum itself is not contained in the CRC checksum. The CRC checksum is generated by the sender and appended to the pad field 545. The receiver will perform the same CRC checksum calculation after receiving the EtherCAT message, and the receiver considers the data transmission as erroneous if the CRC checksum calculated by the receiver does not match the CRC checksum delivered with the EtherCAT message. In this case, the receiver may reject the EtherCAT telegram.
The third telegram structure TEL3 in fig. 2 shows the specific structure of the ethernet header section 520. The ethernet header section 520 has a destination address field 555, which destination address field 555 contains the above-mentioned destination MAC address, which destination MAC address identifies a network participant which can be constructed as a slave participant, an unlocking device or a master participant in the automation network 100 according to fig. 1 and which is supposed to receive an EtherCAT telegram. The destination MAC address can also be constructed as a multicast address (addressing a plurality of network participants in the automation network 100) or as a broadcast address (addressing all network participants in the automation network 100). Following the destination address field 555, the ethernet header section 520 has a sender address field 560. The sender address field 560 contains a sender address, which is also constructed as a MAC address and identifies the sender. The destination address field 555 and the sender address field 560 each contain 6 bytes.
The ethernet header section 520 also has a TAG field 565 after the sender address field 560. It can be constructed, for example, according to the standard IEEE 802.1Q as a VLAN TAG field (VLAN: virtual local area network) and contains 4 bytes. The ethernet header section 520 has a protocol field 570 after the TAG field 565. The protocol field 570 can be constructed as a so-called "ethernet-type" field and contains a value specifying the protocol to be used by the next higher layer within the user data, wherein a certain layer and the next higher layer are defined according to the OSI model (OSI: open systems interconnection), the reference model for data transport protocols in the layer architecture. For example, if the telegram is constructed as an EtherCAT telegram and the value is linked to an EtherCAT data transfer protocol with real-time functionality, the value of the protocol field 570 is 0x88a4 (in hexadecimal hierarchy).
EtherCAT header section 525 contains length field 575. The length field 575 provides information about the EtherCAT datagram length. Following the length field 575, the EtherCAT header field 525 contains a reserved field 580, if necessary. Following the reserved field 580, the EtherCAT header field 525 contains a type field 585. The type field 585 contains a data element having a first value and a second value, wherein the data element is structured as an EtherCAT protocol type. The EtherCAT protocol type contains a second value when addressed to a sector addressed with a message identifier containing a pending slave participant. The EtherCAT protocol type then has a value of 0x1 (in hexadecimal), and the slave participants in the field recognize with this value that the EtherCAT telegram is released for processing and begin processing the datagrams in the EtherCAT telegram.
The EtherCAT protocol type has a first value which is different from the second value of 0x1 (hexadecimal system), which may be equal to the value 0x6 (hexadecimal system), for example, if EtherCAT telegrams intended to be processed by slave participants in the respective section are blocked. The telegram identifier may for example be constructed as the MAC address of the destination address field 555. In addition, when using the TAG field 565, which can be configured as a VLAN TAG field, the telegram identifier can also be constructed as a VLAN ID. The VLAN TAG field may contain 4 bytes, i.e. 32 bits, of which the first two bytes contain the value 0x8100 to identify the ethernet frame as a tagged ethernet frame according to the standard IEEE 802.1Q. The remaining two bytes contain the VLAN ID, the segmentation information in the case of segmenting the EtherCAT telegram, and the priority with which the EtherCAT telegram can be sent, where the priority can be constructed in the form of a priority value. Each datagram in the third telegram structure TEL3 is constructed in the same way as the datagrams in the second telegram structure TEL2, and therefore no further description is given here.
The tail section 515 may also contain a segmentation field 590 instead of a padding field 545, if the EtherCAT telegram is unlocked by an unlocker, which is constructed, for example, as a network dispatcher or a so-called "finger". The fragment field 590 may contain a value of zero, thereby indicating that no fragmentation of the EtherCAT message has occurred. Bits 0 through 3 of the fragmentation field 590 may contain a data frame number indicating a value used to characterize the corresponding ethernet data frame, where bits 0 through 3 may represent values from 1 through 15 when the EtherCAT telegram is fragmented by the unlocker. Bits 4 through 7 of the fragment field 590 may be set to reserved bits.
The TAG field 565 may also be constructed according to a fourth telegram structure TEL4, wherein the ethernet header section 520 shown in the third telegram structure TEL3 and the other fields of the EtherCAT header section 525 and the trailer section 515 are not shown in fig. 2. Nevertheless, the fourth telegram structure TEL4 can be constructed as a complete EtherCAT telegram. The TAG field 565 may have a protocol identification field 595 after the fourth telegram structure TEL 4. For example, the protocol identification field 595 may have a value that identifies the ethernet frame as a tagged ethernet frame according to standard IEEE 802.1Q, but different from the identification of a VLAN tag having a value of 0x8100 (hexadecimal system).
Following the protocol identification field 595, the TAG field 565 may contain a first data field 600. In addition, the TAG field 565 may have a second data field 605 between the first data field 600 and the third data field 610. The first data field 600 and the second data field 605 can also contain a telegram identifier of an EtherCAT telegram, which assigns the EtherCAT telegram to the individual sections in the automation network 100 shown in fig. 1. The telegram identifier for an EtherCAT telegram may contain, for example, a destination sector address and a sender sector address, wherein the first data field 600 may contain the destination sector address and the second data field 605 may contain the sender sector address. The third data field 610 may contain an unoccupied area, for example, bits 0 through 11 of the third data field 605 may be used as reserved bits. In addition, in the case of segmenting an EtherCAT telegram, as described above in connection with the VLAN tag, the third data field 610 may contain segmentation information and contain a priority for sending the EtherCAT telegram.
In addition, although not shown in fig. 2, EtherCAT telegrams may also be embedded in UDP/IP (UDP: user datagram protocol, IP: internet protocol) data frame structures. In this case, the ethernet header section 520 has a destination address field 555 and a sender address field 560. Following the secondary sender address field 560, the ethernet header section 520 contains a protocol field 570, wherein the protocol field 570 has a value of 0x0800 (hexadecimal system), which specifies the internet protocol (IPv 4-internet protocol version 4). In the ethernet header section 520, the protocol field 570 is followed by an IP header section and a UDP header section. In this case, EtherCAT header section 525, datagram and trailer section 515 are constructed in a manner similar to that described above, where trailer section 515 may include padding field 545 and checksum field 550. Furthermore, in addition to being embedded into the UDP/IP data frame structure, the EtherCAT telegram may also have a TAG field 565, wherein the TAG field 565 may be structured as a VLAN TAG. The TAG field 565 is then arranged similarly to the third telegram structure TEL 3.
Fig. 3 shows a schematic illustration of a fifth telegram structure TEL5 and a sixth telegram structure TEL6 for the data structure 500 of fig. 2 that can be constructed as an EtherCAT telegram. In particular, if the EtherCAT telegram has been segmented by the unlocking device in the automation network 100 shown in fig. 1, the EtherCAT telegram can have a fifth telegram structure TEL5 and a sixth telegram structure TEL6, and the first segment of the segmented EtherCAT telegram has, for example, a third telegram structure TEL3 and a fourth telegram structure TEL 4. The second to nth segments of the EtherCAT message may include a fifth message structure TEL5 and a sixth message structure TEL 6. The EtherCAT telegram has a fragment destination address field 615, wherein the fragment destination address field 615 contains a fifth data field 625 and a sixth data field 630 according to a sixth telegram structure TEL 6. For example, the fifth data field 625 of the segment destination address field 615 may contain 4 bytes and be constructed in the form of a multicast address space with multicast addresses for addressing a plurality of segments containing slave participants in the automation network 100 shown in fig. 1. As an alternative thereto, the multicast address space may be constructed in the form of a unicast address space with unicast addresses for addressing a single segment containing slave participants in fig. 1. In addition, the multicast address space can also be designed as a broadcast address space, wherein the broadcast address space contains broadcast addresses for addressing all segments in fig. 1 containing slave participants.
A sixth data field 630 of fragment destination address field 615 may contain 2 bytes. Bits 0 through 3 of the sixth data field 630 may contain a data frame number, which may indicate a value of a corresponding ethernet data frame. Bits 4 through 7 and 12 may still be set as reserved bits and not occupied. Bits 8 to 11 may contain a fragment number indicating the value of the corresponding fragment so that each fragment can be matched to the assigned ethernet data frame. In addition, bits 13 to 15 may have a priority of the second fragment to the nth fragment of the EtherCAT telegram, where the priority may be constructed in the form of a priority value. The data section 510 in the fifth telegram structure TEL5 has been selected as an example and can be constructed according to the second telegram structure TEL2 and the third telegram structure TEL3 in fig. 2. After the data section 510, the second to nth sections of the EtherCAT telegram may contain a fourth data field 620, which fourth data field 620 may have one byte. To this end, bits 0 to 3 of the fourth data field 620 can be provided to indicate whether further fragments follow or whether the fragment to be transmitted already forms the last fragment of the EtherCAT telegram. At this point, a value of zero may, for example, indicate that the fragment to be transmitted is the last fragment of an EtherCAT telegram. In addition, bits 4 to 6 may be provided as reserved bits, and bit 7 is set to indicate that the second to nth segments of the EtherCAT message are padded with padding bytes, i.e., are padded, in case the minimum length is not reached. In addition, the second byte of the fourth data field 620 may indicate a data frame number, which may indicate a value of a corresponding ethernet data frame. Finally, according to the fifth telegram structure TEL5, the second to nth segments of the EtherCAT telegram may contain a checksum field 550, which checksum field 550 has a checksum calculated over the second to nth segments, which may be constructed in a manner similar to that described above. The fourth data field 620 and the checksum field 550 contain 5 bytes in total, so that the fragment destination address field 615 and the data field 510 of the second fragment to the nth fragment of the EtherCAT telegram can have at least 59 bytes in total, and the second fragment to the nth fragment of the EtherCAT telegram do not need to be padded to reach the minimum length of 64 bytes.
In addition, the structure of the EtherCAT telegram does not necessarily include the sequence of the slave participants in the segment, because the EtherCAT telegram can address the physical memory address (hereinafter referred to as the physical address interval) of the slave participants in the segment, and the EtherCAT telegram can also be constructed as a logical telegram. In the second case, the logical address, i.e. the logical address interval and the address interval length, can be specified in an EtherCAT telegram. In particular, the logical address interval may be constructed to be larger than the physical address interval so that the physical address interval may be placed within the logical address interval. In addition, the logical address interval can be placed in the EtherCAT telegraph in sequence.
The present invention has been described in detail hereinabove by way of preferred embodiments. Other embodiments may be envisaged instead of the described embodiments, which may have further modifications or combinations of the features described. In summary, the present invention is not limited to the above-described embodiments, but other modifications can be made by those skilled in the art according to the examples disclosed herein without departing from the scope of the present invention.
List of reference numerals
100 automation network
105 host participant
110 additional host participants
115 first slave participant
125 second slave participant
135 third slave participant
145 fourth slave participant
155 fifth slave participant
160 sixth slave participant
165 seventh slave participant
170 eighth slave participant
175 ninth slave participant
180 tenth slave participant
185 eleventh slave participant
120 first unlocking device
130 second unlocking means
140 third unlocking device
400 first network participant
405 a second network participant
410 third network participant
200 data line network
205 first data line
210 second data line
215 third data line
220 fourth data line
225 fifth data line
230 sixth data line
235 seventh data line
240 eighth data line
245 ninth data line
250 tenth data line
255 eleventh data line
260 twelfth data line
P0 first input/output port
P1 second input/output port
P2 third input/output port
P3 fourth input/output port
P4 fifth input/output port
P5 sixth input/output port
P6 seventh input/output port
P7 eighth input/output port
300 first section
305 second section
310 third section
315 fourth segment
320 fifth section
325 sixth section
500 data structure
505 header section
510 data segment
515 tail segment
520 Ethernet header section
525 EtherCAT header section
530 first datagram
535 second datagram
540 nth datagram
545 fill field
550 checksum field
555 destination address field
560 sender Address field
565 TAG field
570 protocol field
575 length field
580 reserved field
585 type field
590 fragmentation field
595 protocol identification field
600 first data field
605 second data field
610 third data field
615 fragment destination Address field
620 fourth data field
625 fifth data field
630 sixth data field
TEL1 first telegraph structure
TEL2 second telegram structure
TEL3 third telegraph structure
TEL4 fourth telegraph structure
TEL5 fifth telegraph structure
TEL6 sixth telegraph structure

Claims (16)

1. A method for data transmission in an automation network by means of telegrams,
wherein the automation network (100) comprises a master participant (105), slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and at least one unlocker (120, 130, 140) which are connected to each other via a data line network (200),
wherein the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are divided into sectors (300, 305, 310, 315, 320, 325), wherein each sector (300, 305, 310, 315, 320, 325) contains at least one slave participant (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), wherein the master participant (105) sends a blocking telegram for processing by the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), the blocking telegram each having a telegram identifier for allocating the blocking telegram to the sector (300, 305, 310, 315, 320, 325), wherein at least one sector (300, 305, 310, 315, 320, 325) is associated with the at least one unlocker (120, 130, 140),
wherein, when the at least one unlocker (120, 130, 140) receives a lockout telegram, the at least one unlocker (120, 130, 140) checks whether the lockout telegram is intended for a section (300, 305, 310, 315, 320, 325) that matches the at least one unlocker (120, 130, 140) based on the telegram identifier in the lockout telegram, so as to release the lockout telegram as an unlock telegram for processing by the slave party (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) if the lockout telegram is intended for the section (300, 305, 310, 315, 320, 325) that matches the at least one unlocker (120, 130, 140).
2. The method of claim 1, wherein the first and second light sources are selected from the group consisting of,
wherein the telegrams each comprise a data field with a data element,
wherein the data element contains a first value when the telegram is blocked,
wherein the data element contains a second value when the telegram is unlocked, an
Wherein the at least one unlocker (120, 130, 140) sets the first value of the data element to the second value of the data element during unlocking of the lockout telegram to indicate to the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) to release the telegram processing.
3. The method according to claim 1 or 2,
wherein the host participant (105) sends a configuration message to the at least one unlocker (120, 130, 140) before sending the message, the configuration message indicating to the at least one unlocker (120, 130, 140) the message identifier of the section (300, 305, 310, 315, 320, 325) that matches the at least one unlocker (120, 130, 140).
4. The method of any one of claims 1 to 3,
wherein the data line network (200) comprises data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260) between the master participant (105), the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and a plurality of unlockers (120, 130, 140),
wherein an unlocker (120, 130, 140) blocks an unlocking telegram of the segment (300, 305, 310, 315, 320, 325) not intended to match the unlocker (120, 130, 140) when the unlocker (120, 130, 140) receives the unlocking telegram from a previous unlocker (120, 130, 140) via a data link (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260).
5. The method of any one of claims 1 to 3,
wherein the data line network (200) comprises data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260) between the master participant (105), the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and a plurality of unlockers (120, 130, 140), wherein the data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260) each have a round trip and a return trip,
wherein the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) process respective telegrams on the round trip line of the data link (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260),
wherein, when an unlocking telegram is received by an unlocking machine (120, 130, 140) from a previous unlocking machine (120, 130, 140) via the round trip of a data link (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260), the unlocking machine (120, 130, 140) sends the unlocking telegram to the host participant (105) via the round trip of the data link (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260).
6. The method of any one of claims 1 to 5,
wherein the at least one unlocker (120, 130, 140) is constructed as a network dispatcher and has a plurality of input/output ports (P0, P1, P2, P3, P4), the sections (300, 305, 310, 315, 320, 325) comprising the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are connected to the input/output ports (P0, P1, P2, P3, P4), and
wherein the at least one unlocker (120, 130, 140) constructed as a network distributor routes the telegram with the telegram identifier via the plurality of input/output ports (P0, P1, P2, P3, P4) of the at least one unlocker (120, 130, 140) constructed as a network distributor.
7. The method of any one of claims 1 to 6,
wherein the at least one unlocker (120, 130, 140) is additionally configured as a slave participant (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) to process the telegrams.
8. The method of claim 2, wherein the first and second light sources are selected from the group consisting of,
wherein the data structure (500) is designed as a telegram and the telegram has a header section (505), a data section (510) and a tail section (515),
wherein the header section (505) contains the telegram identifier, wherein the data section (510) contains the data field with the data element,
wherein the data element contains the first value when the telegram is blocked,
wherein the data element contains the second value when the telegram is unlocked, and
wherein the tail section (515) comprises a checksum field (550) for integrity checking the transmitted data.
9. The method of claim 8, wherein the first and second light sources are selected from the group consisting of,
wherein the telegram is constructed as an Ethernet telegram having a destination address field (555) and a sender address field (560) in the header section (520),
wherein the destination address field (555) and the sender address field (560) are each constructed as MAC address fields,
wherein the header section (520) contains a TAG field (565) with the telegram identifier, and
wherein the header section (520) contains a protocol field (570) for the protocol used.
10. The method according to claim 8 or 9,
wherein the telegram is constructed as an EtherCAT telegram, wherein the data section (510) contains a further header section (525),
wherein the further header section (525) comprises a length field (575), a reserved field (580), and the data field,
wherein the data field is structured as a type field (585) and the data element is structured as an EtherCAT protocol type.
11. An automated network for providing a network of automated data,
wherein the automation network (100) comprises a master participant (105), slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and at least one unlocker (120, 130, 140) which are connected to each other via a data line network (200),
wherein the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are divided into segments (300, 305, 310, 315, 320, 325), wherein each segment (300, 305, 310, 315, 320, 325) contains at least one slave participant (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), wherein the master participant (105) is configured to send a blocking telegram for processing by the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185), the blocking telegram each having a telegram identifier to assign the blocking telegram to a segment (300, 305, 310, 315, 320, 325),
wherein at least one section (300, 305, 310, 315, 320, 325) is mated with the at least one unlocker (120, 130, 140),
wherein the at least one unlocking device (120, 130, 140) is designed to check, when the at least one unlocking device (120, 130, 140) receives a blocking telegram, whether the blocking telegram is intended for the section (300, 305, 310, 315, 320, 325) associated with the at least one unlocking device (120, 130, 140) on the basis of the telegram identifier in the blocking telegram, in order to release the blocking telegram as an unlocking telegram for processing by the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) if the blocking telegram is intended for the section (300, 305, 310, 315, 320, 325) associated with the at least one unlocking device (120, 130, 140).
12. The automation network of claim 11,
wherein the master participant (105) is configured to send a telegram to the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185),
wherein the telegram sent by the host participant (105) comprises a data field with data elements,
wherein the host participant (105) is configured to block a telegram by the host participant (105) setting the data element of the telegram to a first value, and
wherein the at least one unlocker (120, 130, 140) is designed to set the first value of the data element to a second value of the data element during unlocking of the lockout telegram in order to indicate to the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) to release the telegram processing.
13. The automation network of any one of claims 11 to 12,
wherein the data line network (200) comprises data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260) between the master participant (105), the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and a plurality of unlockers (120, 130, 140),
wherein the unlocker (120, 130, 140) is configured to: blocking an unlocking telegram of the section (300, 305, 310, 315, 320, 325) not intended to mate with the unlocker (120, 130, 140) when the unlocker (120, 130, 140) receives the unlocking telegram from a previous unlocker (120, 130, 140) via a data link (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260).
14. The automation network of any one of claims 11 to 12,
wherein the data line network (200) comprises data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260) between the master participant (105), the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) and a plurality of unlockers (120, 130, 140), wherein the data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260) each have a round trip and a return trip,
wherein the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are configured to process respective telegrams on the round trip lines of the data links (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260),
wherein the unlocking means (120, 130, 140) are designed to transmit an unlocking telegram to the host participant (105) via the backhaul of the data link (205, 210, 215, 220, 225, 230, 240, 245, 250, 255, 260) when the unlocking telegram is received by the unlocking means (120, 130, 140) via the backhaul of the data link (205, 210, 215, 220, 225, 230, 235, 240, 245, 250, 255, 260).
15. The automation network of any one of claims 11 to 14,
wherein the at least one unlocker (120, 130, 140) is constructed as a network distributor and is configured with a plurality of input/output ports (P0, P1, P2, P3, P4), to which sections (300, 305, 310, 315, 320, 325) containing the slave participants (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) are connected, and to which input/output ports (P0, P1, P2, P3, P4) are connected
Wherein the at least one unlocker (120, 130, 140) configured as a network distributor is configured to route the telegram via the plurality of input/output ports (P0, P1, P2, P3, P4) of the at least one unlocker (120, 130, 140) configured as a network distributor using the telegram identifier.
16. The automation network of any one of claims 11 to 15,
wherein the at least one unlocking means (120, 130, 140) is additionally configured as a slave participant (115, 125, 135, 145, 155, 160, 165, 170, 175, 180, 185) for processing telegrams.
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